{"id":314,"date":"2020-04-02T20:42:35","date_gmt":"2020-04-02T20:42:35","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/?p=314"},"modified":"2020-04-02T21:56:11","modified_gmt":"2020-04-02T21:56:11","slug":"electrical-subsystem-pcb-design","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/2020\/04\/02\/electrical-subsystem-pcb-design\/","title":{"rendered":"Electrical Subsystem\/ PCB design"},"content":{"rendered":"

The following is an outline of the electrical subsystem of GRASP and the power distribution PCB.<\/span><\/p>\n

For our hardware system, as a proof of concept for our Reinforcement Learning (RL) estimation<\/span>
\nalgorithm, will be mainly a cart equipped with a perception system and geared with manual control<\/span>
\nfor the mobility. We are planning to use an uninterruptable power supply as our main power supply,<\/span>
\nwhich is connected to a transformer to step down the voltage to a constant 12V supply for the<\/span>
\npower system PCB. The power system serves as a hub to monitor the voltages to the subsystems,<\/span>
\nwhich are now planned to include a Lidar sensor, an IMU sensor, and a camera sensor. And<\/span>
\ncurrently, with the main focus of the project on the viability of the algorithm and the fact that we<\/span>
\nare using a simulated environment, we are not planning to perform highly accurate localization and<\/span>
\ncontrol design in the physical hardware.<\/span><\/p>\n

We are using the uninterruptable power supply with its silent, fast, and stable feature. But<\/span>
\nif that is not available, we could easily replace it with a Li-Po Battery for a 12V voltage input to the<\/span>
\npower system PCB. Furthermore, for the IMU and Camera sensor, we are using the<\/span>
\nRealSense T265 which couples both sensors in a single unit. A detailed description of the<\/span>
\nsubsystem and the power source including voltage range, continuous current, the regulation<\/span>
\nrequirement is listed in the following table:<\/span><\/p>\n

\"\"<\/span><\/p>\n

With the above table, the PCB board was designed to act as a power distribution unit which regulates the power supply for each<\/span>
\nsubsystem with details as listed below. With the schematic and board shown in Figure 1, we could satisfy the power needs for each of the<\/span>
\nsubsystems with over\/reverse voltage protection.<\/span>
\n\u2022 Lidar subsystem: For the Velodyne Puck-16 sensor, we have an interface box comes with it.<\/span>
\nThe interface box provides the over\/reverse voltage and accepts 9V to 18V DC voltage. The<\/span>
\novervoltage is triggered at 32V and blows the 3A automatic blade fuse inside the box. Thus,<\/span>
\nwe are not providing any regulator for the Lidar subsystem due to the fact that our 12 V<\/span>
\ninput will work just fine.<\/span>
\n\u2022 Camera\/IMU T265 subsystem: For the T265 sensor, 5V DC voltage is expected. We<\/span>
\ndecided to use the MIC29300-5 regulator to provide the required voltage. MIC29300-5<\/span>
\ntakes an input voltage ranging from -20V to +60V, where our 12V DC input could fit<\/span>
\ncomfortably. The current rating of MIC29300-5 is 3A which satisfies our peak current<\/span>
\nrequirement for the T265, which is 500mA. We have also provided over voltage\/current<\/span>
\nprotection with a transient voltage suppressor (SMAJ5.0) and a 1.5A fuse, which will blow<\/span>
\nat 150% of the operating current.<\/span>
\n\"\"\"\"<\/span><\/p>\n

Figure 1: Power distribution board schematic and board layout<\/span><\/p>\n

Further design concerns and mounting plan could be found at the mounting plan file attached below:<\/span>
\nTeamD_PDS_schematic_design<\/a><\/span>
\nTeamD_PDS_conceptual_design<\/a><\/span>
\nTeamD_PDS_mounting_plan<\/a><\/span><\/p>\n

 <\/p>\n","protected":false},"excerpt":{"rendered":"

The following is an outline of the electrical subsystem of GRASP and the power distribution PCB. For our hardware system, as a proof of concept for our Reinforcement Learning (RL) estimation algorithm, will be mainly a cart equipped with a perception system and geared with manual control for the mobility. We are planning to use
+ Read More<\/a><\/p>\n","protected":false},"author":198,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-314","post","type-post","status-publish","format-standard","hentry","category-documentation"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/314","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/users\/198"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/comments?post=314"}],"version-history":[{"count":11,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/314\/revisions"}],"predecessor-version":[{"id":346,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/314\/revisions\/346"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/media?parent=314"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/categories?post=314"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/tags?post=314"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}